PID算法
PID算法
在系统控制领域，pid算法算是最常见的一种控制算法
由于PID算法比较简单
这里直接贴python代码
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kp = 0.05
ki = 0.01
kd = 0.01
last_error = 0
integral = 0
def pid_iteration(pv, set_point):
global last_error
global integral
error = set_point - pv
integral = integral + error
derivative = error - last_error
output = kp * error + ki * integral + kd * derivative
last_error = error
return output
start = 0
point = 100
for i in range(0,100):
start = start + pid_iteration(start, point)
print(start)
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